gaze_sim.launch.py无法正常打开gazebo
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[INFO] [launch]: All log files can be found below /home/he/.ros/log/2025-05-29-13-26-56-259421-LAPTOP-JOU4LQ3N-2380
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [2388]
[INFO] [gzserver-2]: process started with pid [2390]
[INFO] [gzclient-3]: process started with pid [2392]
[INFO] [spawn_entity.py-4]: process started with pid [2394]
[robot_state_publisher-1] [INFO] [1748496416.707483822] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1748496416.707566015] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1748496416.707571744] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1748496416.707574278] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1748496416.707576338] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1748496416.707578353] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1748496416.707580372] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1748496416.707582356] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1748496416.707584368] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1748496416.707586344] [robot_state_publisher]: got segment right_wheel_link
[spawn_entity.py-4] [INFO] [1748496416.986764997] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1748496416.987014599] [spawn_entity]: Loading entity published on topic /robot_description
[spawn_entity.py-4] [INFO] [1748496416.993543787] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1748496417.006607650] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1748496417.006803432] [spawn_entity]: Waiting for service /spawn_entity
[gzclient-3] Gazebo multi-robot simulator, version 11.10.2
[gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-3] Released under the Apache 2 License.
[gzclient-3] http://gazebosim.org
[gzclient-3]
[gzserver-2] Gazebo multi-robot simulator, version 11.10.2
[gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-2] Released under the Apache 2 License.
[gzserver-2] http://gazebosim.org
[gzserver-2]
[gzserver-2] [Wrn] [gazebo_ros_init.cpp:178]
[gzserver-2] # # ####### ####### ### ##### #######
[gzserver-2] ## # # # # # # # #
[gzserver-2] # # # # # # # # #
[gzserver-2] # # # # # # # # #####
[gzserver-2] # # # # # # # # #
[gzserver-2] # ## # # # # # # #
[gzserver-2] # # ####### # ### ##### #######
[gzserver-2]
[gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life
[gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo
[gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli)
[gzserver-2]
[gzserver-2]
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 10.255.255.254
[gzclient-3] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[spawn_entity.py-4] [INFO] [1748496421.021815504] [spawn_entity]: Calling service /spawn_entity
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 10.255.255.254
[gzserver-2] [Msg] Loading world file [/home/he/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [INFO] [1748496421.846991635] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1748496421.847569316] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1748496421.847876086] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[spawn_entity.py-4] [INFO] [1748496421.908273983] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gzserver-2] [INFO] [1748496422.022515430] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gzserver-2] [INFO] [1748496422.022568267] [diff_drive]: Wheel pair 1 diameter set to [0.064000m]
[gzserver-2] [INFO] [1748496422.023240626] [diff_drive]: Subscribed to [/cmd_vel]
[gzserver-2] [INFO] [1748496422.025433057] [diff_drive]: Advertise odometry on [/odom]
[gzserver-2] [INFO] [1748496422.026761257] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-2] [INFO] [1748496422.026785513] [diff_drive]: Publishing wheel transforms between [base_footprint], [left_wheel_joint] and [right_wheel_joint]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 2394]
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call